//
// Created by fazhehy on 2024/7/4.
//

#ifndef ENU_H
#define ENU_H

#include "hy_common_inc.h"

typedef struct {
    float x;
    float y;
}enu_point_t;

//typedef struct {
//    float x;
//    float vx;
//    float y;
//    float vy;
//    float yaw;
//    float x_;
//    float y_;
//}suv_info_t;

extern enu_point_t enu_target_point[50];
extern int16_t enu_target_point_len;
extern enu_point_t enu_now_point;
//extern gnss_point_t gnss_now_point;

//extern suv_info_t suv_info;
//extern enu_point_t suv_now;
//extern float U[2];
//extern float gnss_vx;
//extern float gnss_vy;

void enu_init();
void enu_go_home();
void target_point_transform();
//void enu_kalman_update();
void enu_get_now_point();
float enu_get_distance(enu_point_t * enu0, enu_point_t * enu1);
float enu_get_angle(enu_point_t * enu0, enu_point_t * enu1);
uint8_t enu_test_task(uint8_t keyNum);

#endif //ENU_H
